/**
* Tries to start a server on the specified port.
*
* @param host - host name (IP) to use
* @param port - port to use for opened socket
*/
private void init(String host, int port) {
if (host != null) {
this.host = host;
} else {
try {
this.host = InetAddress.getLocalHost().getHostAddress();
} catch (UnknownHostException xcp) {
xcp.printStackTrace();
this.host = null;
}
}
try {
serverSocket = new ServerSocket(port);
} catch (IOException xcp) {
handleFailureToCreateServerSocket(port, xcp);
return;
}
// Get port being used for server socket
this.port = serverSocket.getLocalPort();
// Create a server thread and start it listening
Runnable serverConnectionDaemon = new ServerConnectionDaemon();
ThreadTools.startAsDaemon(serverConnectionDaemon, "Data Object Server Conn Daemon");
printIfDebug(
".init: comm server started listening on:\n"
+ "\thost = "
+ this.host
+ "\n\tport = "
+ this.port);
}
private boolean tryToMakeDemuxer(final Path path) {
PrintTools.debug(
this,
garbageCollectAndPrintUsedMemoryInMB(false)
+ " tryToMakeDemuxer "
+ path.getFileName().toString());
timedOut = true;
ThreadTools.executeWithTimeout(
MP4VideoDemuxer.class.getSimpleName() + demuxerThreadIndex++,
new Runnable() {
@Override
public void run() {
try {
demuxer = new MP4VideoDemuxer(path.toFile());
timedOut = false;
} catch (IOException e) {
e.printStackTrace();
}
}
},
1000,
TimeUnit.MILLISECONDS);
if (timedOut) PrintTools.error("Demuxer.init() timed out!");
return timedOut;
}
public static void startController(WandererController wandererController) {
AcsellSetup.startStreamingData();
YoVariableRegistry registry = new YoVariableRegistry("wanderer");
WandererRobotModel robotModel = new WandererRobotModel(true, true);
PeriodicThreadScheduler scheduler = new PeriodicRealtimeThreadScheduler(45);
YoVariableServer variableServer =
new YoVariableServer(
WandererSingleThreadedController.class,
scheduler,
robotModel.getLogModelProvider(),
robotModel.getLogSettings(),
0.01);
AcsellSetup wandererSetup = new AcsellSetup(variableServer);
PriorityParameters priority = new PriorityParameters(PriorityParameters.getMaximumPriority());
WandererSingleThreadedController communicator =
new WandererSingleThreadedController(
robotModel, priority, variableServer, wandererController, registry);
variableServer.start();
wandererSetup.start();
communicator.start();
ThreadTools.sleepForever();
}
public void startPlaying() {
PrintTools.info(garbageCollectAndPrintUsedMemoryInMB(false) + "startPlaying() ");
ExecutorService executor =
Executors.newSingleThreadExecutor(
ThreadTools.getNamedThreadFactory(
getClass().getSimpleName() + videoPlayerThreadIndex++));
executor.execute(
new Runnable() {
@Override
public void run() {
while (true) {
if (currentPathToVideo == null) {
ThreadTools.sleep(10);
} else {
boolean demuxerCreatedSuccessfully = tryToMakeDemuxer(currentPathToVideo);
if (demuxerCreatedSuccessfully) {
playVideo(demuxer);
} else {
currentPathToVideo = null;
}
if (demuxer != null) {
demuxer.delete();
}
}
readyForUpdate = true;
}
}
});
executor.shutdown();
}
public void playVideo(MP4VideoDemuxer demuxer) {
try {
long sleepTimeMillisPerFrame = (long) (1000.0 / FRAME_RATE);
long previousTimeMillis = System.currentTimeMillis();
demuxer.seekToFrame(0);
YUVPicture picture;
while (true) {
picture = demuxer.getNextFrame();
if (picture == null) {
if (LOOP_FOREVER) {
demuxer.seekToFrame(0);
return;
} else {
break;
}
}
long currentTimeMillis = System.currentTimeMillis();
doTheNextFrame(picture);
long timeDelta = currentTimeMillis - previousTimeMillis;
long timeToSleep = sleepTimeMillisPerFrame - timeDelta;
if (timeToSleep < 1) timeToSleep = 1;
if (timeToSleep > sleepTimeMillisPerFrame) timeToSleep = sleepTimeMillisPerFrame;
ThreadTools.sleep(timeToSleep);
previousTimeMillis = currentTimeMillis;
}
} catch (IOException e) {
e.printStackTrace();
}
}
public void findEntryBoxAndEnterValue(String name, double value) {
JPanelFixture entryBoxArrayPanel = focusedWindow.panel("EntryBoxArrayPanel");
JPanelFixture enumEntryBox = entryBoxArrayPanel.panel(name + "_YoEntryBox");
JTextComponentFixture textBox = enumEntryBox.textBox();
// For some reason deleting, and then entering doesn't seem to work. It only deletes part of the
// text!?
// Instead here we have to call setText.
// textBox.deleteText();
// textBox.enterText(Double.toString(value) + "\n");
textBox.setText(Double.toString(value));
textBox.enterText("\n");
ThreadTools.sleep(500);
}
public static void main(String[] args) {
final ArrayList<MP4VideoDemuxer> demuxers = new ArrayList<>();
for (i = 0; i < 1000; i++) {
ThreadTools.executeWithTimeout(
"demuxer" + i,
new Runnable() {
@Override
public void run() {
MP4VideoDemuxer demuxer;
try {
System.out.println("i = " + i);
demuxer =
new MP4VideoDemuxer(
Paths.get(
"20150920_0009_Atlas_DRCPushRecoveryMultiStepTest.testMultiStepForwardAndContinueWalking.mp4")
.toFile());
for (int j = 0; j < 5; j++) {
demuxer.getNextFrame();
}
demuxer.delete();
demuxers.add(demuxer);
} catch (IOException e) {
e.printStackTrace();
}
}
},
500,
TimeUnit.MILLISECONDS);
}
System.gc();
ThreadTools.sleepSeconds(10.0);
}
public SimulationGUITestFixture(final SimulationConstructionSet scs) {
FailOnThreadViolationRepaintManager.install();
this.scs = scs;
JFrame frame =
GuiActionRunner.execute(
new GuiQuery<JFrame>() {
protected JFrame executeInEDT() throws SimulationExceededMaximumTimeException {
JFrame jFrame = scs.getJFrame();
return jFrame;
}
});
focusedWindow = new FrameFixture(frame);
ThreadTools.sleep(1000);
focusedWindow.focus();
mainSCSWindow = focusedWindow;
}
public void connect() {
// try
// {
//
// }
// catch (IOException e)
// {
// throw new RuntimeException(e);
// }
boolean isConnected = false;
System.out.println("[GazeboOutputWriter] Connecting to " + address);
while (!isConnected) {
try {
channel = SocketChannel.open();
channel.configureBlocking(true);
channel.socket().setKeepAlive(true);
channel.socket().setReuseAddress(true);
channel.socket().setSoLinger(false, 0);
channel.socket().setTcpNoDelay(true);
channel.connect(address);
isConnected = true;
sendInitialState();
} catch (IOException e) {
System.out.println("Connect failed.");
try {
channel.close();
} catch (IOException e1) {
e1.printStackTrace();
}
ThreadTools.sleep(3000);
isConnected = false;
}
}
System.out.println("[GazeboOutputWriter] Connected");
System.out.println("num of joints = " + joints.size());
}
@After
public void destroySimulationAndRecycleMemory() {
if (simulationTestingParameters.getKeepSCSUp()) {
ThreadTools.sleepForever();
}
// Do this here in case a test fails. That way the memory will be recycled.
if (drcFlatGroundWalkingTrack != null) {
drcFlatGroundWalkingTrack.destroySimulation();
drcFlatGroundWalkingTrack = null;
}
if (blockingSimulationRunner != null) {
blockingSimulationRunner.destroySimulation();
blockingSimulationRunner = null;
}
pushRobotController = null;
doubleSupportStartConditions = null;
pushCondition = null;
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " after test.");
}
@After
public void destroySimulationAndRecycleMemory() {
if (simulationTestingParameters.getKeepSCSUp()) {
ThreadTools.sleepForever();
}
// Do this here in case a test fails. That way the memory will be recycled.
if (drcSimulationTestHelper != null) {
drcSimulationTestHelper.destroySimulation();
drcSimulationTestHelper = null;
}
if (behaviorCommunicatorClient != null) {
behaviorCommunicatorClient.close();
}
if (behaviorCommunicatorServer != null) {
behaviorCommunicatorServer.close();
}
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " after test.");
}